#include <SOn.h>

Static Public Member Functions
static TangentVector	Local (const SO &R, ChartJacobian H={})

static SO	Retract (const TangentVector &xi, ChartJacobian H={})

Detailed Description

Definition at line 242 of file SOn.h.

Member Function Documentation

template<int N>

SO< N >::TangentVector gtsam::SO< N >::ChartAtOrigin::Local	(	const SO &	R,
		ChartJacobian	H = `{}`
	)

static

Inverse of Retract. See note about xi element order in Hat.

Definition at line 50 of file SOn-inl.h.

template<int N>

SO< N > gtsam::SO< N >::ChartAtOrigin::Retract	(	const TangentVector &	xi,
		ChartJacobian	H = `{}`
	)

static

Retract uses Cayley map. See note about xi element order in Hat. Deafault implementation has no Jacobian implemented

Definition at line 40 of file SOn-inl.h.

The documentation for this struct was generated from the following files: